wago i/O

8/18/2019 wago i/O

1/19

EtherNet/IP communicationsbetween a WAGO 750-871 PFCand a SICK IVC-2D Camera

Application note

A203600, EnglishVersion 1.0.0

8/18/2019 wago i/O

2/19

2 • General

Application noteA203600

Copyright ! 2009 by WAGO Kontakttechnik GmbH & Co. KG

All rights reserved.

WAGO Kontakttechnik GmbH & Co. KGHansastraße 27

D-32423 Minden

Phone: +49 (0) 571/8 87 – 0

Fax: +49 (0) 571/8 87 – 1 69

E-Mail: [email protected]

Web: http://www.wago.com

Technical Support

Phone: +49 (0) 571/8 87 – 5 55

Fax: +49 (0) 571/8 87 – 85 55

E-Mail: [email protected]

Every conceivable measure has been taken to ensure the correctness and

completeness of this documentation. However, as errors can never be fully

excluded we would appreciate any information or ideas at any time.

We wish to point out that the software and hardware terms as well as the

trademarks of companies used and/or mentioned in the present manual are

generally trademark or patent protected.

mailto:[email protected]://www.wago.com/mailto:[email protected]:[email protected]://www.wago.com/mailto:[email protected]

8/18/2019 wago i/O

3/19

Table of Contents • 3


TABLE OF CONTENTS

1 Important comments .................................................................................4

1.1 Legal principles......................................................................................4

1.1.1 Copyright ...............................................................................................4 1.1.2 Personnel qualification ..........................................................................4

1.1.3 Intended use ...........................................................................................4

1.2 Range of validity....................................................................................5

1.3 Symbols .................................................................................................5

2 Description..................................................................................................6

3 Reference Material ....................................................................................6

4 Solution .......................................................................................................7

4.1 Configure the SICK IVC 2D Camera for EtherNet/IP .......................... 74.1.1 SICK IVC Communication Setup Tool .................................................9

4.2 Enable the WAGO 750-871 Controller for EtherNet/IP .....................11

4.3 Program the 750-871 to send Explicit EtherNet/IP Messages............. 12

8/18/2019 wago i/O

4/19

4 • Important comments


1 Important comments

To ensure fast installation and start-up of the units described in this

manual, we strongly recommend that the following information and

explanation is carefully read and adhered to.

1.1 Legal principles

1.1.1 Copyright

This manual is copyrighted, together with all figures and illustrations

contained therein. Any use of this manual which infringes the copyright

provisions stipulated herein, is not permitted. Reproduction, translation

and electronic and photo-technical archiving and amendments require the

written consent of WAGO Kontakttechnik GmbH & Co. KG. Non-

observance will entail the right of claims for damages.

1.1.2 Personnel qualification

The use of the product detailed in this manual is exclusively geared to

specialists having qualifications in PLC programming, electrical

specialists or persons instructed by electrical specialists who are also

familiar with the valid standards. WAGO Kontakttechnik GmbH & Co.

KG declines all liability resulting from improper action and damage to

WAGO products and third party products due to non-observance of the

information contained in this manual.

1.1.3 Intended use

For each individual application, the components supplied are to work with

a dedicated hardware and software configuration. Modifications are only

admitted within the framework of the possibilities documented in the

manuals. All other changes to the hardware and/or software and the non-

conforming use of the components entail the exclusion of liability on part

of WAGO Kontakttechnik GmbH.

Please direct any requirements pertaining to a modified and/or new

hardware or software configuration directly to WAGO KontakttechnikGmbH & Co. KG.

8/18/2019 wago i/O

5/19

Important comments • 5


1.2 Range of validity

This application note is based on the stated hardware and software of the

specific manufacturer as well as the correspondent documentation. This

application note is therefore only valid for the described installation.

New hardware and software versions may need to be handled differently.

Please note the detailed description in the specific manuals.

1.3 Symbols

Danger

Always observe this information to protect persons from injury.

Warning

Always observe this information to prevent damage to the device.

Attention

Marginal conditions must always be observed to ensure smooth operation.

ESD (Electrostatic Discharge)

Warning of damage to the components by electrostatic discharge. Observe

the precautionary measure for handling components at risk.

Note

Routines or advice for efficient use of the device and software optimization.

More information

References to additional literature, manuals, data sheets and INTERNET

pages

8/18/2019 wago i/O

6/19

6 • Description


2 Description

The purpose of this document is to provide an example of interfacing a WAGO 750-871

ETHERNET Controller with a SICK IVC-2D camera using EtherNet/IP protocol. In this

example, the WAGO 750-871 communicates with the SICK IVC-2D via explicit EtherNet/IP

messaging. The SICK IVC-2 responds to messages originated by the WAGO 750-871, allowingthe 750-871 to read and write variable data from the camera.

3 Reference Material

This procedure was tested with the following hardware and software:

" SICK IVC-2 Camera

" SICK IVC Studio 2.8

" WAGO 750-871 ETHERNET Controller, Version 01.03.02(03) Firmware

" WAGO-IO-PRO CAA Programming Software, Version 2.3.9.7

System Layout

WAGO 750-871192.168.0.82

ProgrammingTerminal

192.168.0.10

SICK IVC-2D192.168.0.79

NOTE: This procedure assumes that the WAGO 750-871 has a valid IP address and is

installed on a working network along with the SICK IVC-2D camera and the

programming terminal. If necessary, please refer to WAGO’s Application Note

A202900 for assigning a static IP address to the WAGO 750-871.

8/18/2019 wago i/O

7/19

Solution • 7


4 Solution

There are three main steps in setting up the system:

1) Configure the SICK IVC 2D Camera for EtherNet/IP2) Enable the WAGO 750-871 Controller for Ethernet/IP

3) Program the WAGO 750-871 to send Explicit EtherNet/IP Messages

4.1 Configure the SICK IVC 2D Camera for EtherNet/IP

In IVC Studio 2.8 there are six EtherNet/IP assembly instances defined - three input

and three output. The assemblies are of different sizes to fit different applications.

The input and output assembly for each type contains the same number of each data

type and are of the same length. The three assemble types are named: “Allround”,

“No strings” and “Small”. This example uses the “Small” assembly.

AssemblyType

Description Input assemblyInstance (to IVC

device)

Output assemblyInstance (from

IVC device)

Size

Allround All typesRepresented

100 101 494

No strings More room forNumbers

102 103 470

Small Small set withall types

106 107 174

NOTE: This section assumes that you have an overall understanding of SICK

IVC Studio and the SICK IVC 2D camera. It only focuses on configuring

variables in the camera, so they can be accessed via EtherNet/IP from the

WAGO 750-871 controller. For more information on the SICK IVC products,

please refer to their respective manuals.

8/18/2019 wago i/O

8/19

8 • Solution


The layout for each assembly type is listed below. The data is in its order of occurrence in theassembly instance. An EtherNet/IP assembly is similar to a data structure object, which ismade up of various data types and lengths.

Allround Assembly (100 & 101)

Type No. ofvalues

Camera ParameterName

Start ByteOffset

Type Size

SINT 10 SINT0 … 9 0 1 byteINT 10 INT0 … 9 10 2 bytes

DINT 10 DINT0 … 9 30 4 bytesREAL 10 REAL0 … 9 70 4 bytes

SSTRING 6 SSTRING0… 5 110 64 bytes

Total Size 494 bytes

No String Assembly (102 & 103)

Type No. ofvalues Camera ParameterName Start ByteOffset Type Size

SINT 50 SINT0 … 49 0 1 byteINT 50 INT0 … 49 50 2 bytes

DINT 30 DINT0 … 49 150 4 bytesREAL 50 REAL0 … 49 270 4 bytes


Small Assembly (106 & 107)

Type No. ofvalues

Camera ParameterName

Start ByteOffset

Type Size

SINT 10 SINT0 … 9 0 1 byte

INT 10 INT0 … 9 10 2 bytesDINT 10 DINT0 … 9 30 4 bytesREAL 10 REAL0 … 9 70 4 bytes

SSTRING 1 SSTRING0… 5 110 64 bytes


NOTE: IVC Studio 2.6 SR1 uses a different Small Assembly, which is 172 bytes long.

8/18/2019 wago i/O

9/19

Solution • 9


4.1.1 SICK IVC Communication Setup Tool

The Communication Setup tool in SICK IVC Studio is used to define the variable

mapping between values in IVC studio and an internal buffer that can be accessed via

the EtherNet/IP fieldbus.

By double-clicking the Setup button an interactive setup is brought up as shown below:

8/18/2019 wago i/O

10/19

10 • Solution


In the example above three input values and four output values are mapped. The first input

value is mapped from SINT0, which is the first SINT (short integer) in the input assembly, to

table index V0. The next two are mapped from REAL0 and REAL1 to table index V1 and V2,

respectively. The output values, representing position, area and volume in this example, are

mapped from table index V9 - V12 to INT0 and INT1 (which are the first and second integers

in the output assembly), and to REAL0 and REAL1.

Type: Data type of the parameter in the assembly

Parameter: The parameter in the assembly

Destination: Destination parameter in the IVC (only table values allowed)

Source: Source parameter in the IVC (constant, table value or step result allowed)

Name: User defined name

Preview(HEX): Shows actual raw format. This column will be automatically updated

when the communication window opens and closes, but can be manually updated by

clicking the “Get preview(Hex) value” command button.

8/18/2019 wago i/O

11/19

Solution • 11


4.2 Enable the WAGO 750-871 Controller for EtherNet/IP

EtherNet/IP protocol is disabled in the 750-871 Controller by default, so it is necessary to

enable it. This is done using a web browser to access the internal webpages of the 750-871.

Run a web browser (e.g. Microsoft’s Internet Explorer) on the programming terminal.

In the address bar enter the IP address of the 750-871 ETHERNET Controller and hit

Enter.

The 750-871’s internal webpage should appear. If it does not, check that you have an Ethernet

link to the 750-871’s Ethernet port, and that the IP address of the programming terminal is inthe same subnet as the 750-871.

Click the ‘Port’ hyperlink in the left browser frame. The following dialog will appear:

Enter the following:

User Name: admin

Password: wago Click OK .

The ‘Port configuration’ frame will appear.

In this frame, you must check ‘EtherNet IP’ as enabled. You may enable or disable other

protocols at this time as well. Click ‘SUBMIT’ when finished. Perform a hardware or

software reset so the new settings take effect.

The WAGO 750-871 Ethernet Controller is now enabled for EtherNet/IP communications.

8/18/2019 wago i/O

12/19

12 • Solution


4.3 Program the 750-871 to send Explicit EtherNet/IPMessages

The 750-871 Ethernet Controller can be programmed to send explicit EtherNet/IP

messages to other devices using a CoDeSys program. The library EML.LIB containsthe function block EML_UCMM_REQ, which is used to send EtherNet/IP messages.

Make sure the CoDeSys development tool and the library EML.LIB are installed on

the programming terminal before proceeding.

1) Create a new CoDeSys project. From the top menu bar, select File..New. You

may be asked if you’d like to save your existing program. Answer accordingly.

A Target Settings dialog appears. Select the “WAGO_750-871” target. Click OK

to continue.

A New POU dialog appears.

Complete the New POU information as follows:

Name of the new POU: PLC_PRG

Type of POU: Program

Language of the POU: LD

Click OK to continue. The PLC_PRG POU should display.

2) Add the EtherNet/IP library EML.LIB to the CoDeSys project. From the top menu bar,

select Window..Library Manager. Again from the top menu bar, select

Insert..Additional Library. Select the library EML.LIB, and click Enter.

8/18/2019 wago i/O

13/19

Solution • 13


3) This program will use a user-defined data structure to organize the data between the 750-

871 controller and the SICK IVC 2D camera. Click on the Data Types tab in the lower

left-hand corner.

From the top menu bar, select Project..Object Add...

Type in the name of the new data type as SmallCameraData, and click OK

Enter the following member variables between the key words STRUCT and

END_STRUCT like below:

TYPE SmallCameraData :STRUCT

SINTx:ARRAY [0..9] OF BYTE;INTx:ARRAY [0..9] OF INT;DINTx:ARRAY [0..9] OF DINT;REALx:ARRAY [0..9] OF REAL;STRINGx: STRING(63);

END_STRUCTEND_TYPE

NOTE: To avoid typing errors, copy the above text to the Windows’ clipboard

and then paste it into the CoDeSys project.

8/18/2019 wago i/O

14/19

14 • Solution


The program code for interfacing with the camera will be put into a function block for

organization and re-usability. To create a new function block, click on the POUs tab in

the lower left-hand corner of CoDeSys and then double-click on the POUs folder in the

POU view. Select Project..Object Add.. from the top menu bar.

The New POU dialog is displayed.

Enter the information below:

Name of the new POU: SickIVP_UpdateSmall_Instance

Type of POU: Function Block

Language of the POU: ST

8/18/2019 wago i/O

15/19

Solution • 15


Enter the following variables in the declaration window for the function block

SickIVP_UpdateSmall_Instance.

VAR_INPUTstrIpAddress: STRING; (* IP Address for the camera*)

END_VAR

VAR_IN_OUTutReadData: SmallCameraData; (* Data structure for read data

*)utWriteData: SmallCameraData; (* Data structure for write

data*)END_VAR

VAR_OUTPUTxReadError: BOOL; (*Status of read command - 1 = error*)xWriteError: BOOL; (*Status of write command - 1 = error*)

END_VAR

VAREthernetIpFB: EML_UCMM_REQ;aDataIn: ARRAY [1..2000] OF BYTE;aDataOut: ARRAY [1..2000] OF BYTE; wLength: WORD;dwTimeOut: DWORD := 4000; wStep: WORD:= 1;

END_VAR

When complete, the variable declaration window should look like the screen capture

below.

8/18/2019 wago i/O

16/19

16 • Solution


Enter the structured text program below for the SickIVP_UpdateSmall_Instance

function block body in the code window.

CASE wStep OF

1: (* Read data from camera via EtherNet/IP explicit messages*) wLength:=0;EthernetIpFB(ENABLE:=TRUE, NETWORK_PATH:=strIpAddress,SRV:=EML_GET_ATTR,CLASS:=4, INST:=107, ATTR:=3, MEM:=16#FFFF,TAG:='',TAG_SIZE:=0, TOUT:=dwTimeOut,LEN:=wLength, DATA:=aDataIn);IF EthernetIpFB.CONFIRM = TRUE THEN

IF EthernetIpFB.GEN_ERR = 0 THEN(*Comms good - copy data to utReadData data structure. Copy data by array*)(* An extra byte is sometimes inserted between array types in a structure*)SysMemCpy(ADR(utReadData.SINTx[0]), ADR(aDataIn[1]), 10);SysMemCpy(ADR(utReadData.INTx[0]), ADR(aDataIn[11]), 20);SysMemCpy(ADR(utReadData.DINTx[0]), ADR(aDataIn[31]), 40);SysMemCpy(ADR(utReadData.REALx[0]), ADR(aDataIn[71]), 40);SysMemCpy(ADR(utReadData.STRINGx), ADR(aDataIn[111]), 64);xReadError:=FALSE;

ELSE

xReadError:=TRUE;END_IFEthernetIpFB(ENABLE:=FALSE,LEN:=wLength,DATA:=aDataIn); wStep:=2;END_IF

2:(* Write data to camera via EtherNet/IP explicit messages*) wLength:=174;SysMemCpy(ADR(aDataOut[1]), ADR(utWriteData.SINTx[0]), 10);SysMemCpy(ADR(aDataOut[11]), ADR(utWriteData.INTx[0]), 20);SysMemCpy(ADR(aDataOut[31]), ADR(utWriteData.DINTx[0]), 40);SysMemCpy(ADR(aDataOut[71]), ADR(utWriteData.REALx[0]), 40);SysMemCpy(ADR(aDataOut[111]), ADR(utWriteData.STRINGx), 64);EthernetIpFB(ENABLE:=TRUE, NETWORK_PATH:= strIpAddress,

SRV:=EML_SET_ATTR, CLASS:=4, INST:=106, ATTR:=3, MEM:=16#FFFF,TAG:='',TAG_SIZE:=0, TOUT:=dwTimeOut,

LEN:=wLength,DATA:=aDataOut);IF EthernetIpFB.CONFIRM = TRUE THENIF EthernetIpFB.GEN_ERR = 0 THEN

xWriteError:=FALSE;ELSE

xWriteError:=TRUE;END_IFEthernetIpFB(ENABLE:=FALSE,LEN:=wLength,DATA:=aDataOut); wStep:=1;

END_IFEND_CASE

NOTE: To avoid typing errors, copy the above text to the Windows’ clipboard

and then paste it into the CoDeSys project.

8/18/2019 wago i/O

17/19

Solution • 17


When complete, the program should look similar to the screen capture:

8/18/2019 wago i/O

18/19

18 • Solution


4) The following screen capture shows how to call the SickIVP_UpdateSmall_Instance

function block from a ladder program. The data read from the camera’s “Small”

assembly instance is placed into the CoDeSys variable utReadData. The data that is to be

written to the camera is put in the variable utWriteData. Both variables utReadData and

utWriteData are defined as a type SmallCameraData.

Additionally, this program shows how to access Boolean variables that are linked to the

camera.

8/18/2019 wago i/O

19/19

WAGO Kontakttechnik GmbH & Co. KGPostfach 2880 • D-32385 MindenHansastraße 27 • D-32423 MindenPhone: 05 71/8 87 – 0Telefax: 05 71/8 87 – 1 69E-Mail: [email protected]

Internet: http://www.wago.com
mailto:[email protected]://www.wago.com/http://www.wago.com/mailto:[email protected]

Documents

wago i/O